Surgical planning apparatus, medical system, and storage medium

Abstract

The invention provides an operation planning method and device, a medical system and a computer readable storage medium. The method comprises the steps of obtaining medical image data of a skull of a patient and a device three-dimensional model of a medical device; performing skull three-dimensional reconstruction according to the medical image data to obtain a skull three-dimensional model of the patient; screening implantation positions of the medical equipment to obtain an alternative position set and screening information corresponding to each alternative position in the alternative position set in the screening process; according to the screening information of each alternative position, one alternative position is selected from all the alternative positions to serve as the optimal implantation position of the medical equipment; and generating first prompt information and sending the first prompt information to terminal equipment of a doctor, wherein the first prompt information is used for indicating the optimal implantation position. According to the method, individualized implantation position screening and planning can be achieved, and the surgical risk is reduced.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to surgical planning equipment, medical systems and computer-readable storage media. Background Art

[0002] In the surgical treatment plan for some diseases, medical devices are implanted in the head. In order to reduce the surgical risks brought by this procedure, and at the same time consider the scalp tension caused by large implants, as well as the aesthetic effect after suturing, it is necessary to screen the patient group before surgery. If the patient is suitable for implantation, the implantation location can be further planned.

[0003] The traditional surgical process is: the doctor makes a preliminary judgment on whether the patient is suitable for implantation based on preoperative imaging data and his own experience. If suitable, the doctor will select a rough range for skull resection or bone grinding to implant the medical device, which takes a relatively long time. And due to the individual differences in the patient's skull, it is easy for the implanted device to not fit the skull as well as expected, affecting the overall implantation effect and may also affect subsequent wound healing.

[0004] Based on this, the present application provides a surgical planning device, a medical system and a computer-readable storage medium to improve the relevant technology. Summary of the invention

[0005] The purpose of this application is to provide a surgical planning device, a medical system and a computer-readable storage medium to achieve individualized implant location screening and planning and reduce surgical risks.

[0006] The purpose of this application is achieved by the following technical solutions:

[0007] In a first aspect, the present application provides a surgical planning method, the method comprising:

[0008] Acquire medical imaging data of a patient's skull and a three-dimensional model of a medical device;

[0009] Performing three-dimensional skull reconstruction according to the medical imaging data to obtain a three-dimensional skull model of the patient;

[0010] Screening the implantation position of the medical device according to the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes collision screening;

[0011] When the candidate position set includes at least one candidate position, selecting one from all the candidate positions as the optimal implantation position of the medical device according to the screening information of each candidate position;

[0012] A first prompt message is generated and sent to a terminal device of a doctor, wherein the first prompt message is used to indicate the optimal implantation position.

[0013] The beneficial effect of this technical solution is that by obtaining the medical imaging data of the patient's skull and the 3D model of the medical device, and reconstructing the skull in 3D based on the medical imaging data, the anatomical structure of each patient's head can be understood more accurately, thereby realizing individualized implantation position screening and planning. Specifically, doctors can simulate and plan before surgery, perform surgical simulation operations based on the 3D model of the skull and the 3D model of the device, and select the best implantation position, thereby reducing surgical risks and improving surgical success rates. When screening the set of alternative positions, the collision between the medical device and the relevant surface of the skull is taken into account, avoiding unnecessary intervention and adjustment during the implantation process, and further reducing surgical risks. Due to the existence of preoperative simulation and planning, it is no longer necessary to perform large-scale skull resection or bone groove grinding on the patient's head during surgery, which can reduce surgical time and trauma. By selecting the best implantation position, the medical device fits better with the skull, improving the implantation effect, and facilitating subsequent wound healing and patient recovery.

[0014] In summary, three-dimensional reconstruction and preoperative simulation provide doctors with a more scientific and accurate surgical planning method, which can significantly reduce surgical risks, improve surgical effects, and have a positive impact on patients' treatment outcomes and rehabilitation.

[0015] In some optional embodiments, the method further includes: when the set of candidate positions is empty, generating a second prompt message and sending it to the terminal device, wherein the second prompt message is used to indicate that the patient is not suitable for implant surgery.

[0016] The beneficial effect of this technical solution is that implant surgery is a major decision for patients. If they are not suitable for surgery, it may lead to surgical failure, complications or difficulties in recovery. By informing doctors and patients that implantation is not suitable through the second prompt information, unnecessary surgery can be avoided, saving resources and time. By reducing unnecessary surgeries, doctors can focus more energy and resources on patients who are suitable for surgery, thereby improving the quality of medical care and the success rate of surgery. Specifically, by screening the patient population before surgery, if the set of alternative positions is empty, it can be accurately indicated that the patient is not suitable for implantation of the medical device, thus avoiding unnecessary surgical risks and adverse consequences that the patient may face.

[0017] In summary, through individualized patient screening and evaluation of alternative positions before surgery, we can not only ensure the success and safety of the operation, but also avoid unnecessary surgery, improve the quality of medical care, increase patient satisfaction with medical services, provide doctors with more accurate decision-making basis, and have a significant positive impact on patients' treatment outcomes and overall medical experience.

[0018] In some optional embodiments, the three-dimensional model of the device has an upper surface and a lower surface relative to each other, and the three-dimensional model of the skull has an inner skull surface and an outer skull surface relative to each other;

[0019] The step of selecting one of the candidate positions as the best implantation position of the medical device from all the candidate positions according to the screening information of each candidate position includes:

[0020] Calculate the implantation score corresponding to each candidate position according to the screening information of each candidate position, wherein the screening information includes: the distance between the candidate position and a preset reference plane, and the reference plane includes any one of the following: the inner surface of the skull, the outer surface of the skull, and the center plane of the skull;

[0021] The candidate position with the highest implantation score is used as the optimal implantation position of the medical device.

[0022] The beneficial effect of this technical solution is that by calculating the implantation score corresponding to each candidate position, combined with screening information such as the distance between the candidate position and the preset reference plane, the implantation depth of each candidate position can be objectively evaluated. This quantitative evaluation method can help doctors make more accurate decisions and select the best implantation position. Specifically, when calculating the implantation score, multiple factors are taken into account, such as the distance between the candidate position and the inner and outer surfaces of the skull and the central plane of the skull, and the information of the internal and external structures of the skull is integrated. Such a comprehensive evaluation can more comprehensively consider the individual differences of patients and surgical needs, and improve the success rate of the operation. By selecting the candidate position with the highest implantation score as the best implantation position, it can be ensured that the medical device will neither protrude too much nor press down on the brain tissue, reducing the risk of discomfort or complications after implantation. Using implantation scores to assist preoperative planning, doctors can better understand the differences between the alternative positions and choose the most appropriate position for surgery. This helps to improve surgical efficiency, reduce surgical time and unnecessary interventions.

[0023] In some optional embodiments, the collision screening process includes:

[0024] Detecting whether each regional point in the three-dimensional skull model satisfies a collision constraint condition;

[0025] Putting the regional points satisfying the collision constraint condition into the candidate position set;

[0026] The collision constraints include:

[0027] After the medical device is implanted in the patient's brain according to the regional point, the upper surface of the medical device is not higher than a preset surface, and the lower surface of the medical device is not lower than the inner surface of the skull, wherein the preset surface is a surface on the outside of the skull that is a preset distance away from the outer surface of the skull.

[0028] The beneficial effect of this technical solution is that by detecting the collision constraint conditions of each regional point in the three-dimensional skull model, it can be ensured that the medical device will not collide with the corresponding surface of the skull after being implanted in the patient's brain. The collision constraint conditions mainly include two aspects: one is that the upper surface of the medical device is not higher than the preset surface, which can avoid discomfort and complications caused by excessive protrusion of the medical device; the other is that the lower surface of the medical device is not lower than the inner surface of the skull, which can avoid the medical device pressing down on the brain tissue. By detecting each regional point in the three-dimensional skull model, only the regional points that meet the collision constraint conditions will be placed in the set of alternative positions, thus ensuring the safety and rationality of the alternative positions.

[0029] In summary, collision screening can ensure a safe distance between medical devices and brain tissue when they are implanted, prevent collisions and injuries, help improve the safety and success rate of surgery and the patient's postoperative recovery effect, and also provide doctors with a more reliable basis for surgical decision-making and improve the accuracy and effectiveness of surgical planning.

[0030] In some optional embodiments, detecting whether each regional point in the three-dimensional skull model satisfies a collision constraint condition includes:

[0031] Acquire a first target point corresponding to each regional point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the regional point;

[0032] For each first target point, perform the following processing:

[0033] The three-dimensional model of the device is set so that a first reference point of the lower surface of the three-dimensional model of the device coincides with the first target point, a section of the lower surface of the three-dimensional model of the device at the first reference point is coplanar with a section of the inner surface of the skull at the first target point, and a reference line of the three-dimensional model of the device is parallel to the midsagittal line;

[0034] If the three-dimensional model of the device does not collide with the preset surface, determining that the regional point corresponding to the first target point satisfies the collision constraint condition;

[0035] If the three-dimensional model of the device collides with the preset surface, it is determined that the area point corresponding to the first target point does not satisfy the collision constraint condition.

[0036] The beneficial effect of the technical solution is that by obtaining the first target point corresponding to each regional point, the point on the inner surface of the skull closest to the regional point can be determined as the basis for judging the collision constraint condition. For each first target point, the position of the three-dimensional model of the device is adjusted so that the first reference point of the lower surface of the medical device coincides with the first target point, and the section of the lower surface of the medical device at this point is coplanar with the section of the inner surface of the skull at this point, and the reference line of the medical device is parallel to the midsagittal line. After the position of the lower surface of the three-dimensional model of the device is set, it is detected whether the upper surface of the three-dimensional model of the device collides with the preset surface of the three-dimensional model of the skull. If the upper surface of the three-dimensional model of the device does not collide with the preset surface, it indicates that the regional point corresponding to the first target point meets the collision constraint condition and can be used as an alternative position. If the upper surface of the three-dimensional model of the device collides with the preset surface, it indicates that the regional point corresponding to the first target point does not meet the collision constraint condition and needs to be excluded. In summary, by accurately setting the three-dimensional model of the device and combining the collision judgment of the preset surface, the collision situation of the alternative position can be accurately evaluated, providing a reliable basis for the formulation of the surgical plan. Through collision screening, the conditions of device shape, skull structure and preset surface are comprehensively considered, which improves the accuracy and reliability of implant position screening. Implant positions that collide with the inside of the skull can be excluded, ensuring the safety and stability of the operation.

[0037] In some optional embodiments, detecting whether each regional point in the three-dimensional skull model satisfies a collision constraint condition includes:

[0038] Acquire a second target point corresponding to each regional point, where the second target point is a point of the three-dimensional skull model on the preset surface that is closest to the regional point;

[0039] For each second target point, perform the following processing:

[0040] The three-dimensional model of the device is set so that the second reference point of the upper surface of the three-dimensional model of the device coincides with the second target point, the section of the lower surface of the three-dimensional model of the device at the first reference point is coplanar with the section of the inner surface of the skull at the first target point, and the reference line of the three-dimensional model of the device is parallel to the midsagittal line;

[0041] If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition;

[0042] If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

[0043] The beneficial effect of the technical solution is that by obtaining the second target point corresponding to each regional point, the point on the preset surface of the skull three-dimensional model closest to the regional point can be determined as the basis for judging the collision constraint condition. For each second target point, the position of the equipment three-dimensional model is adjusted so that the second reference point on the upper surface of the medical device coincides with the second target point, and the section of the upper surface of the medical device at this point is coplanar with the section of the preset surface at this point, and the reference line of the medical device is parallel to the midsagittal line. After the position of the upper surface of the equipment three-dimensional model is set, the lower surface of the equipment three-dimensional model is detected to see whether there is a collision with the inner surface of the skull of the skull three-dimensional model. If the lower surface of the equipment three-dimensional model does not collide with the inner surface of the skull, it indicates that the regional point corresponding to the second target point meets the collision constraint condition and can be used as an alternative position. If the lower surface of the equipment three-dimensional model collides with the inner surface of the skull, it indicates that the regional point corresponding to the second target point does not meet the collision constraint condition and needs to be excluded. In summary, by accurately setting the equipment three-dimensional model and combining the collision judgment of the preset surface, the collision situation of the alternative position can be accurately evaluated, providing a reliable basis for the formulation of the surgical plan. Through collision screening, the conditions of device shape, skull structure and preset surface are comprehensively considered, which improves the accuracy and reliability of implant position screening. Implant positions that collide with the inside of the skull can be excluded, ensuring the safety and stability of the operation.

[0044] In some optional embodiments, the screening method further includes fit screening, and the fit screening process includes:

[0045] For each regional point in the candidate position set, calculating the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point;

[0046] The regional points whose fit degree is less than a preset fit degree are removed from the candidate position set.

[0047] The beneficial effect of this technical solution is that fit screening is an evaluation process for each regional point in the set of candidate positions, which is used to exclude positions that do not meet the fit requirements. Specifically, for each regional point, the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at that point is calculated. The fit can be calculated using various evaluation methods and indicators, such as contour similarity, minimum distance, curvature matching, etc. According to the preset fit requirements, find the regional points whose fit is less than the preset fit, and remove them from the set of candidate positions. The purpose of fit screening is to ensure the degree of match between the upper surface of the device and the outer surface of the skull at the candidate position, thereby reducing scalp tension after surgery and improving the aesthetic effect after suturing. Through fit screening, an alternative position with a higher fit with the outer surface of the skull can be selected to ensure the fit stability between the medical device and the skull, and improve the success rate of the operation and patient satisfaction.

[0048] In some optional embodiments, calculating the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point includes:

[0049] Respectively obtain a first projection point and a second projection point corresponding to each regional point, wherein the first projection point is a point on the outer surface of the skull closest to the regional point, and the second projection point is a point on the upper surface of the three-dimensional model of the device closest to the regional point;

[0050] Calculating a curvature difference between a curvature of an outer surface of the skull at the first projection point and a curvature of an upper surface of the three-dimensional model of the device at the second projection point;

[0051] The degree of fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point is obtained according to the curvature difference.

[0052] The beneficial effect of this technical solution is that by obtaining the first projection point and the second projection point corresponding to the regional point, and calculating the difference between the curvature of the outer surface of the skull at the first projection point and the curvature of the upper surface of the device three-dimensional model at the second projection point, the fit between the medical device and the skull can be objectively evaluated. The curvature difference can reflect the difference in the degree of concavity and convexity of the two surfaces, and a smaller difference means a better fit. The curvature difference is used to objectively and quantitatively evaluate the fit between the upper surface of the device and the outer surface of the skull, providing doctors with reliable data support and helping them decide on the best implant location.

[0053] In summary, through the calculation of curvature difference and multi-point evaluation, the fit between the upper surface of the device and the outer surface of the skull can be more accurately evaluated, providing doctors with a more reliable basis for surgical decision-making, ensuring a high fit at the implantation site, improving surgical results and patient satisfaction. At the same time, it can avoid possible discomfort or complications during the implantation process and improve the safety and success rate of the surgery.

[0054] In a second aspect, the present application provides a surgical planning device, the surgical planning device comprising a memory and at least one processor, the memory storing a computer program, and the at least one processor being configured to implement the following steps when executing the computer program:

[0055] Acquire medical imaging data of a patient's skull and a three-dimensional model of a medical device;

[0056] Performing three-dimensional skull reconstruction according to the medical imaging data to obtain a three-dimensional skull model of the patient;

[0057] Screening the implantation position of the medical device according to the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes collision screening;

[0058] When the candidate position set includes at least one candidate position, selecting one from all the candidate positions as the optimal implantation position of the medical device according to the screening information of each candidate position;

[0059] A first prompt message is generated and sent to a terminal device of a doctor, wherein the first prompt message is used to indicate the optimal implantation position.

[0060] In some optional embodiments, the at least one processor is further configured to implement the following steps when executing the computer program:

[0061] When the candidate position set is empty, a second prompt message is generated and sent to the terminal device, wherein the second prompt message is used to indicate that the patient is not suitable for implantation surgery.

[0062] In some optional embodiments, the three-dimensional model of the device has an upper surface and a lower surface relative to each other, and the three-dimensional model of the skull has an inner skull surface and an outer skull surface relative to each other;

[0063] The at least one processor is configured to select one of all candidate positions as the optimal implantation position of the medical device according to the screening information of each candidate position in the following manner when executing the computer program:

[0064] Calculate the implantation score corresponding to each candidate position according to the screening information of each candidate position, wherein the screening information includes: the distance between the candidate position and a preset reference plane, and the reference plane includes any one of the following: the inner surface of the skull, the outer surface of the skull, and the center plane of the skull;

[0065] The candidate position with the highest implantation score is used as the optimal implantation position of the medical device.

[0066] In some optional embodiments, the at least one processor is configured to perform collision screening in the following manner when executing the computer program:

[0067] Detecting whether each regional point in the three-dimensional skull model satisfies a collision constraint condition;

[0068] Putting the regional points satisfying the collision constraint condition into the candidate position set;

[0069] The collision constraints include:

[0070] After the medical device is implanted in the patient's brain according to the regional point, the upper surface of the medical device is not higher than a preset surface, and the lower surface of the medical device is not lower than the inner surface of the skull, wherein the preset surface is a surface on the outside of the skull that is a preset distance away from the outer surface of the skull.

[0071] In some optional embodiments, the at least one processor is configured to detect whether each region point in the three-dimensional skull model satisfies the collision constraint condition in the following manner when executing the computer program:

[0072] Acquire a first target point corresponding to each regional point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the regional point;

[0073] For each first target point, perform the following processing:

[0074] The three-dimensional model of the device is set so that a first reference point of the lower surface of the three-dimensional model of the device coincides with the first target point, a section of the lower surface of the three-dimensional model of the device at the first reference point is coplanar with a section of the inner surface of the skull at the first target point, and a reference line of the three-dimensional model of the device is parallel to the midsagittal line;

[0075] If the three-dimensional model of the device does not collide with the preset surface, determining that the regional point corresponding to the first target point satisfies the collision constraint condition;

[0076] If the three-dimensional model of the device collides with the preset surface, it is determined that the area point corresponding to the first target point does not satisfy the collision constraint condition.

[0077] In some optional embodiments, the at least one processor is configured to detect whether each region point in the three-dimensional skull model satisfies the collision constraint condition in the following manner when executing the computer program:

[0078] Acquire a second target point corresponding to each regional point, where the second target point is a point of the three-dimensional skull model on the preset surface that is closest to the regional point;

[0079] For each second target point, perform the following processing:

[0080] The three-dimensional model of the device is set so that the second reference point of the upper surface of the three-dimensional model of the device coincides with the second target point, the section of the lower surface of the three-dimensional model of the device at the first reference point is coplanar with the section of the inner surface of the skull at the first target point, and the reference line of the three-dimensional model of the device is parallel to the midsagittal line;

[0081] If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition;

[0082] If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

[0083] In some optional embodiments, the screening method further includes fit screening, and the at least one processor is configured to perform fit screening in the following manner when executing the computer program:

[0084] For each regional point in the candidate position set, calculating the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point;

[0085] The regional points whose fit degree is less than a preset fit degree are removed from the candidate position set.

[0086] In some optional embodiments, the at least one processor is configured to calculate the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point in the following manner when executing the computer program:

[0087] Respectively obtain a first projection point and a second projection point corresponding to each regional point, wherein the first projection point is a point on the outer surface of the skull closest to the regional point, and the second projection point is a point on the upper surface of the three-dimensional model of the device closest to the regional point;

[0088] Calculating a curvature difference between a curvature of an outer surface of the skull at the first projection point and a curvature of an upper surface of the three-dimensional model of the device at the second projection point;

[0089] The degree of fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point is obtained according to the curvature difference.

[0090] In a third aspect, the present application provides a medical system, comprising a medical device and any one of the above-mentioned surgical planning devices, wherein the medical device is used to be implanted into a patient's brain.

[0091] In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program, which, when executed by at least one processor, implements the steps of any of the above methods or implements the functions of any of the above surgical planning devices.

[0092] In a fifth aspect, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by at least one processor, it implements the steps of any of the above methods or implements the functions of any of the above surgical planning devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] The present application is further described below in conjunction with the accompanying drawings and implementation methods.

[0094] Figure 1 It is a flowchart of a surgical planning method provided in an embodiment of the present application.

[0095] Figure 2 It is a flowchart of another surgical planning method provided in an embodiment of the present application.

[0096] Figure 3 It is a schematic diagram of a collision screening process provided in an embodiment of the present application.

[0097] Figure 4 It is a schematic diagram of the principle of detecting whether a point in a region satisfies a collision constraint condition provided in an embodiment of the present application.

[0098] Figure 5 It is a schematic diagram of another principle of detecting whether a point in an area satisfies a collision constraint condition provided in an embodiment of the present application.

[0099] Figure 6 It is a schematic diagram of a fit screening process provided in an embodiment of the present application.

[0100] Figure 7 It is a schematic diagram of the principle of fit screening provided in an embodiment of the present application.

[0101] Figure 8 It is a schematic diagram of another process of fit screening provided in an embodiment of the present application.

[0102] Fig. 9 It is a structural block diagram of a surgical planning device provided in an embodiment of the present application.

[0103] Fig.10 It is a structural diagram of a program product provided in an embodiment of the present application. DETAILED DESCRIPTION

[0104] The technical solution in the present application will be described below in conjunction with the drawings and specific implementation methods of the specification of the present application. It should be noted that, under the premise of no conflict, the various implementation methods or technical features described below can be arbitrarily combined to form a new implementation method.

[0105] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can represent: a, b, c, a and b, a and c, b and c, a and b and c, where a, b and c can be single or multiple. It is worth noting that "at least one" can also be interpreted as "one or more items".

[0106] It should also be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any implementation or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other implementations or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0107] Below, one of the application fields of the present application (i.e., implantable neural stimulator) is briefly described.

[0108] Implantable medical systems include implantable neural stimulation systems, implantable cardiac stimulation systems (also known as pacemakers), implantable drug delivery systems (IDDS), and lead switching systems. Examples of implantable neural stimulation systems include deep brain stimulation (DBS), implantable cortical nerve stimulation (CNS), implantable spinal cord stimulation (SCS), implantable sacral nerve stimulation (SNS), and implantable vagus nerve stimulation (VNS).

[0109] The implantable neural electrical stimulation system includes a stimulator implanted in the patient's body (i.e., an implantable neural stimulator, a neural stimulation device) and a programmable device disposed outside the patient's body. In other words, the stimulator is an implant, or the implant includes the stimulator. The relevant neural regulation technology mainly implants electrodes (electrodes, for example, in the form of electrode wires) in specific parts of the tissue of the organism (i.e., target points) through stereotactic surgery, and emits discharge pulses to the target points through the electrodes to regulate the electrical activities and functions of the corresponding neural structures and networks, thereby improving symptoms and relieving pain. Among them, the stimulator may include an IPG, an extension wire and an electrode wire. The IPG (implantable pulse generator) is disposed in the patient's body, responds to the programmable instructions sent by the programmable device, and relies on sealed batteries and circuits to provide controllable electrical stimulation energy to the tissues in the body. The IPG delivers one or more controllable specific electrical stimulations to specific areas of the tissues in the body through the extension wire and the electrode wire. The extension wire is used in conjunction with the IPG as a transmission medium for the electrical stimulation signal, and transmits the electrical stimulation signal generated by the IPG to the electrode wire. The electrode wire delivers electrical stimulation to a specific area of ​​the tissue in the body through a plurality of electrode contacts. The stimulator is provided with one or more electrode wires on one side or both sides, and a plurality of electrode contacts are provided on the electrode wire, and the electrode contacts can be arranged uniformly or non-uniformly on the circumference of the electrode wire. As an example, the electrode contacts can be arranged in an array of 4 rows and 3 columns (a total of 12 electrode contacts) on the circumference of the electrode wire. The electrode contacts can include stimulation electrode contacts and / or collection electrode contacts. The electrode contacts can be in the shape of sheets, rings, dots, etc., for example.

[0110] In other embodiments, the stimulator only includes a pulse generator and an electrode wire, wherein the pulse generator is embedded in the patient's skull and the electrode wire is implanted in the patient's skull, and the pulse generator is directly connected to the electrode wire without extending the wire.

[0111] As an example, DBS includes an implantable pulse generator (IPG), an extension lead and an electrode lead, and the IPG is connected to the electrode lead via the extension lead. The IPG is implanted in the patient's body, for example, in the patient's chest or other body parts.

[0112] As another example, DBS includes an IPG and an electrode lead, and the IPG is directly connected to the electrode lead. The IPG is implanted in the patient's head, for example, a groove is made in the patient's skull, and then the IPG is installed in the groove of the skull. In this case, the IPG may not protrude from the outer surface of the skull, or may partially protrude from the outer surface of the skull.

[0113] In some embodiments, the stimulated body tissue may be the patient's brain tissue, and the stimulated site may be a specific site of the brain tissue. When the patient's disease type is different, the stimulated site is generally different, and the number of stimulation contacts (single source or multiple sources) used, the use of one or more (single channel or multiple channels) specific electrical stimulation signals, and the stimulation parameter data are also different. The embodiments of the present application do not limit the applicable disease types, which may be deep brain stimulation (DBS), spinal cord stimulation (SCS), pelvic stimulation, gastric stimulation, peripheral nerve stimulation, and functional electrical stimulation. The disease type is applicable. Among them, the types of diseases that DBS can be used to treat or manage include, but are not limited to: spastic disorders (e.g., epilepsy), pain, migraine, psychiatric disorders (e.g., major depressive disorder (MDD)), bipolar disorder, anxiety disorders, post-traumatic stress disorder, hypotension, obsessive-compulsive disorder (OCD), behavioral disorders, mood disorders, memory disorders, mental state disorders, movement disorders (e.g., essential tremor or Parkinson's disease), Huntington's disease, Alzheimer's disease, drug addiction, autism or other neurological or psychiatric diseases and injuries.

[0114] In the embodiment of the present application, when the programmable device and the stimulator establish a programmable connection, the programmable device can be used to adjust the stimulation parameters of the stimulator (or the stimulation parameters of the pulse generator, different stimulation parameters correspond to different electrical stimulation signals), or the stimulator can sense the patient's electrophysiological activities to collect electrophysiological signals, and the collected electrophysiological signals can be used to continue to adjust the stimulation parameters of the stimulator.

[0115] The stimulation parameters of the electrical stimulation signal may include frequency (for example, the number of electrical stimulation pulse signals within a unit time of 1s, in Hz), pulse width (duration of each pulse, in μs), and amplitude (generally expressed in voltage, that is, the intensity of each pulse, in V), timing (for example, continuous or triggered), stimulation mode (including one or more of current mode, voltage mode, timed stimulation mode and cyclic stimulation mode), doctor-controlled upper and lower limits (range adjustable by the doctor) and patient-controlled upper and lower limits (range adjustable by the patient). Any one or more of the above. In specific applications, the stimulation parameters of the stimulator can be adjusted in current mode or voltage mode.

[0116] The programmable device can be a doctor's programmer (i.e., a programmer used by a doctor) or a patient programmer (i.e., a programmer used by a patient). The doctor's programmer can be, for example, a tablet computer, a laptop computer, a desktop computer, a mobile phone, or other intelligent terminal device equipped with programmable software. The patient programmer can be, for example, a tablet computer, a laptop computer, a desktop computer, a mobile phone, or other intelligent terminal device equipped with programmable software. The patient programmer can also be other electronic devices with programmable functions (e.g., a charger with programmable functions, a data acquisition device).

[0117] This application does not restrict the data interaction between the doctor programmer and the stimulator. When the doctor performs remote programming, the doctor programmer can interact with the stimulator through the server and the patient programmer. When the doctor performs offline programming with the patient face to face, the doctor programmer can interact with the stimulator through the patient programmer, and the doctor programmer can also interact with the stimulator directly.

[0118] The patient programmer may include a host communicating with the server and a sub-machine communicating with the stimulator, and the host and the sub-machine may be connected in a communicative manner. Among them, the doctor programmer may exchange data with the server through the 3G / 4G / 5G network, the server may exchange data with the host through the 3G / 4G / 5G network, the host may exchange data with the sub-machine through the Bluetooth protocol / WIFI protocol / USB protocol, the sub-machine may exchange data with the stimulator through the 401MHz-406MHz working frequency band / 2.4GHz-2.48GHz working frequency band, and the doctor programmer may directly exchange data with the stimulator through the 401MHz-406MHz working frequency band / 2.4GHz-2.48GHz working frequency band.

[0119] In the surgical treatment plan for some diseases, medical devices are implanted in the head. In order to reduce the surgical risks brought by this procedure, and at the same time consider the scalp tension caused by large implants, as well as the aesthetic effect after suturing, it is necessary to screen the patient group before surgery. If the patient is suitable for implantation, the implantation location can be further planned.

[0120] The traditional surgical process is: the doctor makes a preliminary judgment on whether the patient is suitable for implantation based on preoperative imaging data and his own experience. If suitable, the doctor will select a rough range for skull resection or bone grinding to implant the medical device, which takes a relatively long time. And due to the individual differences in the patient's skull, it is easy for the implanted device to not fit the skull as well as expected, affecting the overall implantation effect and may also affect subsequent wound healing.

[0121] Medical equipment is, for example, a stimulator implanted in the skull. Considering factors such as the curvature of the skull at the implantation location and the range of bone removal, the stimulator is designed to have a certain curvature to achieve the best fit with the skull after the stimulator is implanted in the skull. At present, the commonly used implantation locations of stimulators are the parietal bones and occipital bones. Usually, the neurosurgeon compares the shape of the patient's skull and the shape of the stimulator during the operation, and performs a craniectomy after selecting an approximate range, while the skull is removed and the shape of the stimulator is adapted. This method will lead to a longer operation time. More importantly, due to individual differences, this adaptation is often not achieved in the actual application of clinical surgery, which is manifested as a part of the stimulator being well adapted to the skull, and a part being upturned and protruding from the skull surface. The doctor can only compromise and choose an implantation location, curvature, and angle for fixation. In this case, complications are often prone to occur clinically, such as abnormal appearance of the patient's head after suturing the skin, affecting the appearance; causing excessive tension on the sutured skin, resulting in poor blood flow to the local skin, affecting wound healing, and even exposing the neurostimulator after implantation for a period of time. In addition, a poorly fitted stimulator implant also affects the patient's sleeping position, and the head cannot be tilted to the implanted side.

[0122] Based on this, the present application provides a surgical planning method, device, medical system, computer-readable storage medium and computer program product to improve related technologies.

[0123] Method Embodiment

[0124] See also Figure 1 , Figure 1 It is a flowchart of a surgical planning method provided in an embodiment of the present application.

[0125] The method comprises:

[0126] Step S101: obtaining medical imaging data of a patient's skull and a three-dimensional model of a medical device;

[0127] Step S102: performing three-dimensional skull reconstruction according to the medical image data to obtain a three-dimensional skull model of the patient;

[0128] Step S103: screening the implantation position of the medical device according to the device three-dimensional model and the skull three-dimensional model, obtaining a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes collision screening;

[0129] Step S104: when the candidate position set includes at least one candidate position, selecting one from all candidate positions as the optimal implantation position of the medical device according to the screening information of each candidate position;

[0130] Step S105: Generate a first prompt message and send it to the doctor's terminal device, where the first prompt message is used to indicate the optimal implantation position.

[0131] In one embodiment, the medical device may include a stimulator for implantation in the patient's brain (skull).

[0132] The embodiment of the present application does not limit the shape and size of the medical device. The shape of the medical device can be a regular shape such as a circle, an ellipse, a rectangle, a rounded rectangle, or an irregular shape. For example, the medical device can be a block-shaped rectangular parallelepiped structure (with rounded corners).

[0133] In one embodiment, the medical imaging data may include at least one of the following: CT data, MR data, PET data, X-ray data, PET-CT data, and PET-MR data.

[0134] Specifically, patients can obtain DICOM (Digital Imaging and Communications in Medicine) CT data of tissue images and skull bone window images by scanning the head CT. The CT data here can be burned on a CD for backup. Of course, it can also be MRI, but this application is not limited to this.

[0135] In one embodiment, in step S101, the three-dimensional model of the medical device is obtained by:

[0136] The 3D model of the medical device is constructed using 3D software, such as CREO, SolidWorks, UG or Pro / E. The 3D model of the same medical device can be backed up and used for different individuals.

[0137] In one embodiment, in step S102, the method of three-dimensional reconstruction of the skull may include:

[0138] Import the patient's medical imaging data into preset software, such as Mimics Medical software, and reconstruct the three-dimensional structure of the patient's skull for backup. Specifically, import DICOM data - select the skull threshold range - and build a three-dimensional skull model.

[0139] The embodiments of the present application do not limit the terminal device, which may be, for example, a mobile phone, a tablet computer, a laptop computer, a desktop computer, a smart wearable device, or other intelligent terminal device with a display screen and a speaker, or the terminal device may be a workstation or a console with a display screen and a speaker. The display screen may be a touch display screen or a non-touch display screen.

[0140] In one embodiment, when the set of alternative positions includes multiple alternative positions, for example, including alternative positions a, b, and c, based on the screening information of each alternative position, alternative position b is selected from all the alternative positions as the optimal implantation position, and a corresponding first prompt message is generated and sent to the doctor's mobile phone. The first question is that the information may include the coordinate information of position b.

[0141] As an example, let’s say a patient needs a stimulator implant. Here’s how the surgery might be planned:

[0142] Doctors use medical imaging technologies such as CT scans or magnetic resonance imaging (MRI) to obtain imaging data of the patient's skull. At the same time, medical device manufacturers provide a three-dimensional model of the corresponding medical device, describing the shape, size and characteristics of the device. Based on the patient's medical imaging data, the corresponding software is used to perform three-dimensional reconstruction of the skull to generate a three-dimensional model of the patient's skull. This model can accurately present the shape and structure of the patient's skull. Combined with the three-dimensional model of the device and the three-dimensional model of the patient's skull, the implantation position is screened, and the screening process includes thickness screening, collision screening and fit screening. For example, the thickness range can be set in advance, and only the positions where the skull thickness meets the requirements are selected as candidate positions; at the same time, the collision between the upper and lower surfaces of the device and the inner and outer surfaces of the skull can be detected, and the areas where the collision occurs can be excluded; in addition, the fit between the upper surface of the device and the outer surface of the skull can be calculated, and the positions where the fit is lower than the preset value can be eliminated. In this process, each candidate position will have corresponding screening information, such as skull thickness value, collision distance, fit, etc. According to the screening information of each candidate position, various factors are comprehensively considered to calculate an implantation score for each candidate position. For example, a comprehensive implant score can be calculated by assigning corresponding weights based on indicators such as thickness, collision conditions, and fit. Based on the implant score of each candidate position, the candidate position with the highest implant score is selected as the best implant position. After the best implant position is selected, the coordinate information of the best implant position is automatically sent to the doctor's terminal device, such as a computer or mobile phone, to remind the doctor to make the corresponding decision.

[0143] Therefore, by obtaining the medical imaging data of the patient's skull and the 3D model of the medical device, and reconstructing the skull in 3D based on the medical imaging data, it is possible to more accurately understand the anatomical structure of each patient's head, thereby achieving individualized implant location screening and planning. Specifically, doctors can simulate and plan before surgery, perform surgical simulation operations based on the 3D model of the skull and the 3D model of the device, and select the best implant location, thereby reducing surgical risks and improving surgical success rates. When screening the set of alternative locations, the collision between the medical device and the relevant surface of the skull is taken into account, avoiding unnecessary intervention and adjustment during the implantation process, and further reducing surgical risks. Due to the existence of preoperative simulation and planning, it is no longer necessary to perform large-scale skull resection or bone grinding on the patient's head during surgery, which can reduce surgical time and trauma. By selecting the best implant location, the medical device fits better with the skull, improving the implantation effect, and facilitating subsequent wound healing and patient recovery.

[0144] In summary, three-dimensional reconstruction and preoperative simulation provide doctors with a more scientific and accurate surgical planning method, which can significantly reduce surgical risks, improve surgical effects, and have a positive impact on patients' treatment outcomes and rehabilitation.

[0145] See also Figure 2 , Figure 2 It is a flowchart of another surgical planning method provided in an embodiment of the present application.

[0146] In some embodiments, the method further comprises:

[0147] Step S106: When the candidate position set is empty, a second prompt message is generated and sent to the terminal device, wherein the second prompt message is used to indicate that the patient is not suitable for implant surgery.

[0148] The candidate position set being empty means that there is no candidate position in the candidate position set, that is, after screening, no position suitable for implanting the medical device is found.

[0149] In one embodiment, the second prompt message is, for example, "This patient is not suitable for implant surgery, please consider other treatment methods."

[0150] Therefore, implant surgery is a major decision for patients. If the surgery is not suitable, it may lead to surgical failure, complications or difficulty in recovery. By informing doctors and patients that the implant is not suitable through the second prompt information, unnecessary surgery can be avoided, saving resources and time. By reducing unnecessary surgeries, doctors can focus more energy and resources on patients who are suitable for surgery, thereby improving the quality of medical care and the success rate of surgery. Specifically, by screening the patient population before surgery, if the set of alternative positions is empty, it can be accurately indicated that the patient is not suitable for the implantation of the medical device, thus avoiding unnecessary surgical risks and adverse consequences that the patient may face.

[0151] In summary, through individualized patient screening and evaluation of alternative positions before surgery, we can not only ensure the success and safety of the operation, but also avoid unnecessary surgery, improve the quality of medical care, increase patient satisfaction with medical services, provide doctors with more accurate decision-making basis, and have a significant positive impact on patients' treatment outcomes and overall medical experience.

[0152] In some optional embodiments, the three-dimensional model of the device has an upper surface and a lower surface relative to each other, and the three-dimensional model of the skull has an inner skull surface and an outer skull surface relative to each other;

[0153] In step S104, according to the screening information of each candidate position, one of the candidate positions is selected as the best implantation position of the medical device from all the candidate positions, including:

[0154] Calculate the implantation score corresponding to each candidate position according to the screening information of each candidate position, wherein the screening information includes: the distance between the candidate position and a preset reference plane, and the reference plane includes any one of the following: the inner surface of the skull, the outer surface of the skull, and the center plane of the skull;

[0155] The candidate position with the highest implantation score is used as the optimal implantation position of the medical device.

[0156] In one embodiment, the screening method further includes fit screening, and the screening information of each candidate position further includes: the fit between the upper surface of the medical device and the outer surface of the skull at the candidate position.

[0157] Specifically, the reference plane uses the inner surface of the skull, and the process of calculating the implantation score corresponding to each candidate position is as follows:

[0158] For each candidate position, perform the following processing:

[0159] Setting a first weight corresponding to the distance between the candidate position and the reference plane and a second weight corresponding to the degree of fit;

[0160] Obtain a distance score corresponding to the distance between the candidate position and the reference surface and a fit score corresponding to the fit degree;

[0161] The implantation score corresponding to each candidate position is calculated based on the distance score, the fit score, the first weight and the second weight.

[0162] The closer the distance between the candidate position and the reference surface is to the preset distance range, the higher the distance score is; the higher the fit is, the higher the fit score is. The preset distance range is, for example, 1 to 4 mm.

[0163] The first weight is, for example, 0.7, and the second weight is, for example, 0.3.

[0164] As an example, after collision screening and fit screening, there are two alternative implantation locations for the stimulator of patient Xiao Zhang (position A and position B).

[0165] Among them, the distance score of position A is 80 points, the fit score is 60 points, and the implantation score is: 80*0.7+60*0.3=74 points.

[0166] The distance score of position B is 80 points, the fit score is 90 points, and the implantation score is: 80*0.7+90*0.3=83 points.

[0167] Position B had the highest implantation score and was selected as the optimal implantation position for the stimulator.

[0168] Therefore, by calculating the implantation score corresponding to each candidate position and combining the screening information such as the distance between the candidate position and the preset reference plane, the implantation depth of each candidate position can be objectively evaluated. This quantitative evaluation method can help doctors make more accurate decisions and select the best implantation position. Specifically, when calculating the implantation score, multiple factors are taken into account, such as the distance between the candidate position and the inner and outer surfaces of the skull and the central plane of the skull, and the information of the internal and external structures of the skull is integrated. Such a comprehensive evaluation can more comprehensively consider the individual differences of patients and surgical needs, and improve the success rate of the operation. By selecting the candidate position with the highest implantation score as the best implantation position, it can be ensured that the medical device will neither protrude too much nor press down on the brain tissue, reducing the risk of discomfort or complications after implantation. Using implantation scores to assist preoperative planning, doctors can better understand the differences between the candidate positions and choose the most appropriate position for surgery. This helps to improve surgical efficiency, reduce surgical time and unnecessary interventions.

[0169] In one embodiment, the method further comprises:

[0170] After the medical device is implanted in the patient's brain according to the optimal implantation position, detect whether the medical device protrudes from the outer surface of the skull;

[0171] If the medical device does not protrude from the outer surface of the skull, biocompatible materials are used to fill the vacant area of ​​the skull after the medical device is implanted compared to the initial state of the skull (before surgery), so that the contour of the skull after the medical device is implanted is consistent with the contour before the implantation surgery.

[0172] See also Figure 3 , Figure 3 It is a schematic diagram of a collision screening process provided in an embodiment of the present application.

[0173] In some embodiments, the collision screening process in step S103 includes:

[0174] Step S201: Detecting whether each region point in the three-dimensional skull model satisfies a collision constraint condition;

[0175] Step S202: putting the regional points satisfying the collision constraint condition into the candidate position set;

[0176] The collision constraints include:

[0177] After the medical device is implanted in the patient's brain according to the regional point, the upper surface of the medical device is not higher than a preset surface, and the lower surface of the medical device is not lower than the inner surface of the skull, wherein the preset surface is a surface on the outside of the skull that is a preset distance away from the outer surface of the skull.

[0178] The present application embodiment does not limit the preset distance, and the preset distance may be, for example, 1 mm, 2 mm, 3 mm or 5 mm. The inner surface of the skull is the outer surface of the dura mater.

[0179] In the embodiment of the present application, the regional point is any point located between the inner surface of the skull and the outer surface of the skull.

[0180] Therefore, by detecting the collision constraint conditions of each regional point in the three-dimensional skull model, it can be ensured that the medical device will not collide with the corresponding surface of the skull after being implanted in the patient's brain. The collision constraint conditions mainly include two aspects: one is that the upper surface of the medical device is not higher than the preset surface, so as to avoid discomfort and complications caused by excessive protrusion of the medical device; the other is that the lower surface of the medical device is not lower than the inner surface of the skull, so as to avoid the medical device pressing down on the brain tissue. By detecting each regional point in the three-dimensional skull model, only the regional points that meet the collision constraint conditions will be placed in the set of alternative positions, thus ensuring the safety and rationality of the alternative positions.

[0181] In summary, collision screening can ensure a safe distance between medical devices and brain tissue when they are implanted, prevent collisions and injuries, help improve the safety and success rate of surgery and the patient's postoperative recovery effect, and also provide doctors with a more reliable basis for surgical decision-making and improve the accuracy and effectiveness of surgical planning.

[0182] In some embodiments, the detecting whether each region point in the three-dimensional skull model satisfies the collision constraint condition (step S201) includes:

[0183] Acquire a first target point corresponding to each regional point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the regional point;

[0184] For each first target point, perform the following processing:

[0185] The three-dimensional model of the device is set so that a first reference point of the lower surface of the three-dimensional model of the device coincides with the first target point, a section of the lower surface of the three-dimensional model of the device at the first reference point is coplanar with a section of the inner surface of the skull at the first target point, and a reference line of the three-dimensional model of the device is parallel to the midsagittal line;

[0186] If the three-dimensional model of the device does not collide with the preset surface, determining that the regional point corresponding to the first target point satisfies the collision constraint condition;

[0187] If the three-dimensional model of the device collides with the preset surface, it is determined that the area point corresponding to the first target point does not satisfy the collision constraint condition.

[0188] The midsagittal line is the line from the midpoint between the two eyebrows to the external occipital protuberance, which is the projection line of the superior sagittal sinus. The first reference point can be any point on the central axis of the lower surface of the three-dimensional model of the device.

[0189] In the embodiment of the present application, the medical device may be axisymmetric or approximately axisymmetric, and the reference line of the three-dimensional model of the device may be the central axis.

[0190] See also Figure 4 , Figure 4 It is a schematic diagram of the principle of detecting whether a point in a region satisfies a collision constraint condition provided in an embodiment of the present application.

[0191] As an example, the collision constraint detection process is as follows:

[0192] For each area point of the three-dimensional skull model, find the point on the inner surface of the three-dimensional skull model that is closest to the area point, that is, the first target point. Perform the following processing steps for each first target point: Position the three-dimensional model of the device so that the first reference point of the lower surface of the three-dimensional model of the device coincides with the first target point. At the same time, the section of the lower surface of the three-dimensional model of the device at this point is coplanar with the section of the inner surface of the skull at this point, and the central axis of the three-dimensional model of the device is parallel to the median sagittal line. Set a preset surface, which is an imaginary surface located on the outside of the skull at a preset distance from the outer surface of the skull, and detect whether the three-dimensional model of the device collides with the preset surface.

[0193] If the device 3D model does not collide with the preset surface, it is determined that the area point corresponding to the first target point meets the collision constraint condition. If the device 3D model collides with the preset surface, it is determined that the area point corresponding to the first target point does not meet the collision constraint condition.

[0194] In one embodiment, the upper surface of the device 3D model is slid against a curved surface (preset surface) that is a preset distance higher than the outer surface of the skull, and a rough search is performed with the first step length, and then a fine search is performed with the second step length to detect whether the device 3D model collides with the inner surface of the skull (i.e., the outer surface of the dura mater), and the area points that have not collided are placed in the candidate position set. The first step length can be 2μm, 5μm or 10μm, and the second step length can be 0.2μm, 0.5μm or 1μm.

[0195] Thus, by obtaining the first target point corresponding to each regional point, the point on the inner surface of the skull closest to the regional point can be determined as the basis for judging the collision constraint condition. For each first target point, adjust the position of the three-dimensional model of the device so that the first reference point of the lower surface of the medical device coincides with the first target point, and make the section of the lower surface of the medical device at this point coplanar with the section of the inner surface of the skull at this point, and the reference line of the medical device is parallel to the midsagittal line. After the position of the lower surface of the three-dimensional model of the device is set, detect whether the upper surface of the three-dimensional model of the device collides with the preset surface of the three-dimensional model of the skull. If the upper surface of the three-dimensional model of the device does not collide with the preset surface, it indicates that the regional point corresponding to the first target point meets the collision constraint condition and can be used as an alternative position. If the upper surface of the three-dimensional model of the device collides with the preset surface, it indicates that the regional point corresponding to the first target point does not meet the collision constraint condition and needs to exclude the position. In summary, by accurately setting the three-dimensional model of the device and combining the collision judgment of the preset surface, the collision situation of the alternative position can be accurately evaluated, providing a reliable basis for the formulation of the surgical plan. Through collision screening, the conditions of device shape, skull structure and preset surface are comprehensively considered, which improves the accuracy and reliability of implant position screening. Implant positions that collide with the inside of the skull can be excluded, ensuring the safety and stability of the operation.

[0196] In some other embodiments, the detecting whether each regional point in the three-dimensional skull model satisfies the collision constraint condition (step S201) includes:

[0197] Acquire a second target point corresponding to each regional point, where the second target point is a point of the three-dimensional skull model on the preset surface that is closest to the regional point;

[0198] For each second target point, perform the following processing:

[0199] The three-dimensional model of the device is set so that the second reference point of the upper surface of the three-dimensional model of the device coincides with the second target point, the section of the lower surface of the three-dimensional model of the device at the first reference point is coplanar with the section of the inner surface of the skull at the first target point, and the reference line of the three-dimensional model of the device is parallel to the midsagittal line;

[0200] If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition;

[0201] If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

[0202] The second reference point may be any point on the central axis of the upper surface of the three-dimensional model of the device.

[0203] See also Figure 5 , Figure 5 It is a schematic diagram of another principle of detecting whether a point in an area satisfies a collision constraint condition provided in an embodiment of the present application.

[0204] As an example, the collision constraint detection process is as follows:

[0205] For each area point of the three-dimensional skull model, find the point closest to the area point on the preset surface of the three-dimensional skull model, i.e., the second target point. The preset surface is an imaginary surface located outside the skull and at a preset distance from the outer surface of the skull. Perform the following processing steps for each second target point: Position the three-dimensional model of the medical device so that the second reference point on the upper surface of the medical device coincides with the second target point. At the same time, the section of the upper surface of the medical device at this point is coplanar with the section of the preset surface at this point, and the central axis of the medical device is parallel to the midsagittal line. Check whether the three-dimensional model of the device collides with the inner surface of the skull.

[0206] If the three-dimensional model of the device does not collide with the inner surface of the skull, it is determined that the regional point corresponding to the second target point meets the collision constraint condition. If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not meet the collision constraint condition.

[0207] In one embodiment, the lower surface of the device 3D model is slid against the inner surface of the skull (i.e., the outer surface of the dura mater), and a rough search is performed with the first step length, and then a fine search is performed with the second step length, to detect whether the device 3D model collides with a curved surface (preset surface) that is a preset distance above the outer surface of the skull, and the points in the area where no collision occurs are placed in the candidate position set. The first step length can be 2μm, 5μm, or 10μm, and the second step length can be 0.2μm, 0.5μm, or 1μm.

[0208] Thus, by obtaining the second target point corresponding to each regional point, the point on the preset surface of the skull three-dimensional model closest to the regional point can be determined as the basis for judging the collision constraint condition. For each second target point, the position of the equipment three-dimensional model is adjusted so that the second reference point on the upper surface of the medical device coincides with the second target point, and the section of the upper surface of the medical device at this point is coplanar with the section of the preset surface at this point, and the reference line of the medical device is parallel to the midsagittal line. After the position of the upper surface of the equipment three-dimensional model is set, the lower surface of the equipment three-dimensional model is detected to see whether there is a collision with the inner surface of the skull of the skull three-dimensional model. If the lower surface of the equipment three-dimensional model does not collide with the inner surface of the skull, it indicates that the regional point corresponding to the second target point meets the collision constraint condition and can be used as an alternative position. If the lower surface of the equipment three-dimensional model collides with the inner surface of the skull, it indicates that the regional point corresponding to the second target point does not meet the collision constraint condition and needs to be excluded. In summary, by accurately setting the equipment three-dimensional model and combining the collision judgment of the preset surface, the collision situation of the alternative position can be accurately evaluated, providing a reliable basis for the formulation of the surgical plan. Through collision screening, the conditions of device shape, skull structure and preset surface are comprehensively considered, which improves the accuracy and reliability of implant position screening. Implant positions that collide with the inside of the skull can be excluded, ensuring the safety and stability of the operation.

[0209] See also Figure 6 , Figure 6 It is a schematic diagram of a fit screening process provided in an embodiment of the present application.

[0210] In some embodiments, the screening method further includes fit screening, and the fit screening process includes:

[0211] Step S301: for each area point in the candidate position set, calculating the fit between the upper surface of the device three-dimensional model and the outer surface of the skull at the area point;

[0212] Step S302: remove the regional points whose fit degree is less than a preset fit degree from the candidate position set.

[0213] In one embodiment, the area points whose fit degree is not less than a preset fit degree are retained in the candidate position set.

[0214] The embodiment of the present application does not limit the preset fit degree, and the preset fit degree can be expressed in percentage or percent, such as 70%, 75% or 80%.

[0215] Therefore, fit screening is an evaluation process for each regional point in the set of candidate positions, which is used to exclude positions that do not meet the fit requirements. Specifically, for each regional point, the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at that point is calculated. The fit can be calculated using various evaluation methods and indicators, such as contour similarity, minimum distance, curvature matching, etc. According to the preset fit requirements, find the regional points whose fit is less than the preset fit, and remove them from the set of candidate positions. The purpose of fit screening is to ensure the degree of match between the upper surface of the device and the outer surface of the skull at the candidate position, thereby reducing scalp tension after surgery and improving the aesthetic effect after suturing. Through fit screening, an alternative position with a higher fit with the outer surface of the skull can be selected to ensure the fit stability between the medical device and the skull, and improve the success rate of the operation and patient satisfaction.

[0216] In some embodiments, in step S301, calculating the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point includes:

[0217] Respectively obtain a first projection point and a second projection point corresponding to each regional point, wherein the first projection point is a point on the outer surface of the skull closest to the regional point, and the second projection point is a point on the upper surface of the three-dimensional model of the device closest to the regional point;

[0218] Calculating a curvature difference between a curvature of an outer surface of the skull at the first projection point and a curvature of an upper surface of the three-dimensional model of the device at the second projection point;

[0219] The degree of fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point is obtained according to the curvature difference.

[0220] In the embodiment of the present application, the smaller the curvature difference is, the higher the degree of fit is.

[0221] See also Figure 7 , Figure 7 It is a schematic diagram of the principle of fit screening provided in an embodiment of the present application.

[0222] As an example, the process of fit screening is as follows:

[0223] For each area point in the set of alternative positions, find the point on the outer surface of the skull that is closest to the area point, i.e., the first projection point, and find the point on the upper surface of the three-dimensional model of the device that is closest to the area point, i.e., the second projection point. Calculate the curvature difference between the curvature of the outer surface of the skull at the first projection point and the curvature of the upper surface of the three-dimensional model of the device at the second projection point, and determine the degree of fit based on the curvature difference. The smaller the curvature difference, the higher the degree of fit.

[0224] In one embodiment, the curvature of each projection point on the upper surface of the three-dimensional model of the device and the curvature of each projection point on the outer surface of the skull are converted into color maps for comparison. The closer the colors are, the greater the fit.

[0225] Therefore, by obtaining the first projection point and the second projection point corresponding to the regional point, and calculating the difference between the curvature of the outer surface of the skull at the first projection point and the curvature of the upper surface of the device three-dimensional model at the second projection point, the fit between the medical device and the skull can be objectively evaluated. The curvature difference can reflect the difference in the degree of concavity and convexity of the two surfaces, and a smaller difference means a better fit. The curvature difference is used to objectively and quantitatively evaluate the fit between the upper surface of the device and the outer surface of the skull, providing doctors with reliable data support and helping them decide on the best implant location.

[0226] In summary, through the calculation of curvature difference and multi-point evaluation, the fit between the upper surface of the device and the outer surface of the skull can be more accurately evaluated, providing doctors with a more reliable basis for surgical decision-making, ensuring a high fit at the implantation site, improving surgical results and patient satisfaction. At the same time, it can avoid possible discomfort or complications during the implantation process and improve the safety and success rate of the surgery.

[0227] In a specific application scenario, the embodiment of the present application further provides a surgical planning method, the method comprising:

[0228] Acquire medical imaging data of a patient's skull and a three-dimensional model of a medical device, wherein the three-dimensional model has an upper surface and a lower surface that are opposite to each other;

[0229] Performing three-dimensional skull reconstruction according to the medical imaging data to obtain a three-dimensional skull model of the patient, wherein the three-dimensional skull model has a relative inner skull surface and an outer skull surface;

[0230] Screening the implantation position of the medical device according to the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes collision screening and fit screening;

[0231] When the candidate position set includes at least one candidate position, the implantation score corresponding to each candidate position is calculated according to the screening information of each candidate position, wherein the screening information includes: the distance between the candidate position and a preset reference plane; the fit between the upper surface of the medical device and the outer surface of the skull at the candidate position, wherein the reference plane includes any one of the following: the inner surface of the skull, the outer surface of the skull, and the center plane of the skull;

[0232] selecting the candidate position with the highest implantation score as the optimal implantation position of the medical device;

[0233] Generate first prompt information and send it to a terminal device of a doctor, wherein the first prompt information is used to indicate the optimal implantation position;

[0234] When the candidate position set is empty, generating second prompt information and sending it to the terminal device, wherein the second prompt information is used to indicate that the patient is not suitable for implantation surgery;

[0235] The fit screening process includes:

[0236] For each region point in the candidate position set, respectively obtain a first projection point and a second projection point corresponding to each region point, wherein the first projection point is a point on the outer surface of the skull closest to the region point, and the second projection point is a point on the upper surface of the three-dimensional model of the device closest to the region point;

[0237] Calculating a curvature difference between a curvature of an outer surface of the skull at the first projection point and a curvature of an upper surface of the three-dimensional model of the device at the second projection point;

[0238] According to the curvature difference, obtaining the degree of fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point;

[0239] Eliminate the regional points whose fit degree is less than a preset fit degree from the candidate position set;

[0240] The collision screening process includes:

[0241] Detecting whether each regional point in the three-dimensional skull model satisfies a collision constraint condition;

[0242] Putting the regional points satisfying the collision constraint condition into the candidate position set;

[0243] The collision constraints include:

[0244] After the medical device is implanted into the patient's brain according to the regional point, the upper surface of the medical device is not higher than a preset surface, and the lower surface of the medical device is not lower than the inner surface of the skull, wherein the preset surface is a surface on the outer side of the skull that is a preset distance away from the outer surface of the skull;

[0245] The way to check whether each area point meets the collision constraint condition is as follows:

[0246] Method 1: obtaining a first target point corresponding to each regional point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the regional point;

[0247] For each first target point, perform the following processing:

[0248] Acquire a first target point corresponding to each regional point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the regional point;

[0249] For each first target point, perform the following processing:

[0250] The three-dimensional model of the device is set so that a first reference point of the lower surface of the three-dimensional model of the device coincides with the first target point, a section of the lower surface of the three-dimensional model of the device at the first reference point is coplanar with a section of the inner surface of the skull at the first target point, and a reference line of the three-dimensional model of the device is parallel to the midsagittal line;

[0251] If the three-dimensional model of the device does not collide with the preset surface, determining that the regional point corresponding to the first target point satisfies the collision constraint condition;

[0252] If the three-dimensional model of the device collides with the preset surface, determining that the regional point corresponding to the first target point does not satisfy the collision constraint condition;

[0253] Method 2: Acquire a second target point corresponding to each regional point, where the second target point is the point of the three-dimensional skull model on the preset surface that is closest to the regional point;

[0254] For each second target point, perform the following processing:

[0255] The three-dimensional model of the device is set so that the second reference point of the upper surface of the three-dimensional model of the device coincides with the second target point, the section of the lower surface of the three-dimensional model of the device at the first reference point is coplanar with the section of the inner surface of the skull at the first target point, and the reference line of the three-dimensional model of the device is parallel to the midsagittal line;

[0256] If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition;

[0257] If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

[0258] In one embodiment, during the thickness screening process, when obtaining the skull thickness corresponding to each regional point, a spatial data structure (such as Octree or KD-Tree) can be used to accelerate the calculation of skull thickness, avoid traversing all points, and improve calculation efficiency. During the collision screening process, for each regional point in the set of candidate positions, a fast collision detection algorithm, such as bounding box collision detection or the calculation of the nearest point distance between geometric bodies, can be used to determine whether the collision constraint conditions are met. This can increase the speed of collision detection. When calculating the implantation score corresponding to each candidate position, more evaluation indicators and weights can be introduced to comprehensively consider the factors of surgical success. For example, the feasibility of surgical navigation, the assessment of surgical risks, the protection of adjacent tissue structures, etc. can be considered to comprehensively evaluate the pros and cons of the implantation position. When generating prompt information and sending it to the doctor's terminal device, a real-time communication method can be used to ensure that the doctor can receive prompt information about the patient's surgical conditions in a timely manner in order to make a decision. In addition, the prompt information can be presented in a visual manner, such as using a three-dimensional model or a visual chart to provide a more intuitive information display.

[0259] Surgical planning device embodiment

[0260] The embodiment of the present application also provides a surgical planning device for implanting a medical device into a patient's skull. The specific embodiment is consistent with the embodiment described in the above method embodiment and the technical effects achieved, and some contents will not be repeated here.

[0261] The surgical planning device comprises a memory and at least one processor, wherein the memory stores a computer program, and the at least one processor is configured to implement the following steps when executing the computer program:

[0262] Acquire medical imaging data of a patient's skull and a three-dimensional model of a medical device;

[0263] Performing three-dimensional skull reconstruction according to the medical imaging data to obtain a three-dimensional skull model of the patient;

[0264] Screening the implantation position of the medical device according to the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes collision screening;

[0265] When the candidate position set includes at least one candidate position, selecting one from all the candidate positions as the optimal implantation position of the medical device according to the screening information of each candidate position;

[0266] A first prompt message is generated and sent to a terminal device of a doctor, wherein the first prompt message is used to indicate the optimal implantation position.

[0267] In some optional embodiments, the at least one processor is further configured to implement the following steps when executing the computer program:

[0268] When the candidate position set is empty, a second prompt message is generated and sent to the terminal device, wherein the second prompt message is used to indicate that the patient is not suitable for implantation surgery.

[0269] In some optional embodiments, the three-dimensional model of the device has an upper surface and a lower surface relative to each other, and the three-dimensional model of the skull has an inner skull surface and an outer skull surface relative to each other;

[0270] The at least one processor is configured to select one of all candidate positions as the optimal implantation position of the medical device according to the screening information of each candidate position in the following manner when executing the computer program:

[0271] Calculate the implantation score corresponding to each candidate position according to the screening information of each candidate position, wherein the screening information includes: the distance between the candidate position and a preset reference plane, and the reference plane includes any one of the following: the inner surface of the skull, the outer surface of the skull, and the center plane of the skull;

[0272] The candidate position with the highest implantation score is used as the optimal implantation position of the medical device.

[0273] In some optional embodiments, the at least one processor is configured to perform collision screening in the following manner when executing the computer program:

[0274] Detecting whether each regional point in the three-dimensional skull model satisfies a collision constraint condition;

[0275] Putting the regional points satisfying the collision constraint condition into the candidate position set;

[0276] The collision constraints include:

[0277] After the medical device is implanted in the patient's brain according to the regional point, the upper surface of the medical device is not higher than a preset surface, and the lower surface of the medical device is not lower than the inner surface of the skull, wherein the preset surface is a surface on the outside of the skull that is a preset distance away from the outer surface of the skull.

[0278] In some optional embodiments, the at least one processor is configured to detect whether each region point in the three-dimensional skull model satisfies the collision constraint condition in the following manner when executing the computer program:

[0279] Acquire a first target point corresponding to each regional point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the regional point;

[0280] For each first target point, perform the following processing:

[0281] The three-dimensional model of the device is set so that a first reference point of the lower surface of the three-dimensional model of the device coincides with the first target point, a section of the lower surface of the three-dimensional model of the device at the first reference point is coplanar with a section of the inner surface of the skull at the first target point, and a reference line of the three-dimensional model of the device is parallel to the midsagittal line;

[0282] If the three-dimensional model of the device does not collide with the preset surface, determining that the regional point corresponding to the first target point satisfies the collision constraint condition;

[0283] If the three-dimensional model of the device collides with the preset surface, it is determined that the area point corresponding to the first target point does not satisfy the collision constraint condition.

[0284] In some optional embodiments, the at least one processor is configured to detect whether each region point in the three-dimensional skull model satisfies the collision constraint condition in the following manner when executing the computer program:

[0285] Acquire a second target point corresponding to each regional point, where the second target point is a point of the three-dimensional skull model on the preset surface that is closest to the regional point;

[0286] For each second target point, perform the following processing:

[0287] The three-dimensional model of the device is set so that the second reference point of the upper surface of the three-dimensional model of the device coincides with the second target point, the section of the lower surface of the three-dimensional model of the device at the first reference point is coplanar with the section of the inner surface of the skull at the first target point, and the reference line of the three-dimensional model of the device is parallel to the midsagittal line;

[0288] If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition;

[0289] If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

[0290] In some optional embodiments, the screening method further includes fit screening, and the at least one processor is configured to perform fit screening in the following manner when executing the computer program:

[0291] For each regional point in the candidate position set, calculating the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point;

[0292] The regional points whose fit degree is less than a preset fit degree are removed from the candidate position set.

[0293] In some optional embodiments, the at least one processor is configured to calculate the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point in the following manner when executing the computer program:

[0294] Respectively obtain a first projection point and a second projection point corresponding to each regional point, wherein the first projection point is a point on the outer surface of the skull closest to the regional point, and the second projection point is a point on the upper surface of the three-dimensional model of the device closest to the regional point;

[0295] Calculating a curvature difference between a curvature of the three-dimensional skull model at the first projection point and a curvature of the three-dimensional device model at the second projection point;

[0296] The degree of fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point is obtained according to the curvature difference.

[0297] See also Figure 8 , Figure 8 It is a structural block diagram of a surgical planning device provided in an embodiment of the present application.

[0298] The surgical planning device may include, for example, at least one memory 11 , at least one processor 12 , and a bus 13 connecting different platform systems.

[0299] The memory 11 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 111 and / or a cache memory 112 , and may further include a read-only memory (ROM) 113 .

[0300] The memory 11 also stores a computer program, which can be executed by the processor 12 so that the processor 12 implements the steps of any of the above methods.

[0301] The memory 11 may also include a utility 114 having at least one program module 115, such program module 115 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include the implementation of a network environment.

[0302] Accordingly, the processor 12 may execute the above-mentioned computer program and may execute the utility 114 .

[0303] The processor 12 may adopt one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs), or other electronic components.

[0304] The bus 13 may be a local bus representing one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or any of a variety of bus architectures.

[0305] The surgical planning device may also communicate with one or more external devices such as a keyboard, a pointing device, a Bluetooth device, etc., and may also communicate with one or more devices that can interact with the surgical planning device, and / or communicate with any device (such as a router, a modem, etc.) that enables the surgical planning device to communicate with one or more other computing devices. Such communication may be performed through the input and output interface 14. In addition, the surgical planning device may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter 15. The network adapter 15 may communicate with other modules of the surgical planning device through the bus 13. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the surgical planning device in actual applications, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0306] Computer Readable Storage Medium Embodiments

[0307] The embodiment of the present application also provides a computer-readable storage medium, the specific embodiment of which is consistent with the embodiment recorded in the above method embodiment and the technical effects achieved, and some contents will not be repeated here.

[0308] The computer-readable storage medium stores a computer program, and when the computer program is executed by at least one processor, the steps of any of the above methods or the functions of any of the above surgical planning devices are implemented.

[0309] Computer readable medium can be a computer readable signal medium or a computer readable storage medium. In an embodiment of the present application, a computer readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. Computer readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of computer readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0310] The computer-readable storage medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable storage medium may also be any computer-readable medium that can send, propagate, or transmit a program for use by an instruction execution system, an apparatus, or a device or for use in combination with it. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above. The program code for performing the operation of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and also conventional procedural programming languages ​​such as C language or similar programming languages. The program code may be executed entirely on a user computing device, partially on a user device, as an independent software package, partially on a user computing device, partially on a remote computing device, or entirely on a remote computing device or server. Where a remote computing device is involved, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0311] Computer program product embodiments

[0312] The embodiment of the present application also provides a computer program product, the specific embodiments of which are consistent with the embodiments recorded in the above method embodiments and the technical effects achieved, and some contents will not be repeated here.

[0313] The present application provides a computer program product, which includes a computer program. When the computer program is executed by at least one processor, the steps of any of the above methods or the functions of any of the above surgical planning devices are implemented.

[0314] See also Fig. 9 , Fig. 9 It is a structural diagram of a computer program product provided in an embodiment of the present application.

[0315] The computer program product is used to implement the steps of any of the above methods or to implement the functions of any of the above surgical planning devices. The computer program product may be a portable compact disk read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the computer program product of the present invention is not limited thereto, and the computer program product may be any combination of one or more computer-readable media.

[0316] This application is explained from the perspectives of purpose of use, effectiveness, progress and novelty, and has met the functional enhancement and usage requirements emphasized by the Patent Law. The above description and drawings of this application are only the preferred embodiments of this application, and are not intended to limit this application. Therefore, all structures, devices, features, etc. that are similar or identical to this application, that is, all equivalent replacements or modifications made in accordance with the scope of the patent application of this application, should fall within the scope of protection of the patent application of this application.

Claims

1. A surgical planning device, characterized in that: The surgical planning device comprises a memory and at least one processor, wherein the memory stores a computer program, and the at least one processor is configured to implement the following steps when executing the computer program: Acquire medical imaging data of a patient's skull and a three-dimensional model of a medical device; Performing three-dimensional skull reconstruction according to the medical imaging data to obtain a three-dimensional skull model of the patient; Screening the implantation position of the medical device according to the three-dimensional model of the device and the three-dimensional model of the skull to obtain a set of candidate positions and screening information corresponding to each candidate position in the set of candidate positions during the screening process, wherein the screening method includes collision screening; When the candidate position set includes at least one candidate position, selecting one from all the candidate positions as the optimal implantation position of the medical device according to the screening information of each candidate position; A first prompt message is generated and sent to a terminal device of a doctor, wherein the first prompt message is used to indicate the optimal implantation position.

2. The surgical planning device according to claim 1, characterized in that: The at least one processor is further configured to implement the following steps when executing the computer program: When the candidate position set is empty, a second prompt message is generated and sent to the terminal device, wherein the second prompt message is used to indicate that the patient is not suitable for implantation surgery.

3. The surgical planning device according to claim 1, characterized in that: The three-dimensional model of the device has an upper surface and a lower surface that are opposite to each other, and the three-dimensional model of the skull has an inner skull surface and an outer skull surface that are opposite to each other; The at least one processor is configured to select one of all candidate positions as the optimal implantation position of the medical device according to the screening information of each candidate position in the following manner when executing the computer program: Calculate the implantation score corresponding to each candidate position according to the screening information of each candidate position, wherein the screening information includes: the distance between the candidate position and a preset reference plane, and the reference plane includes any one of the following: the inner surface of the skull, the outer surface of the skull, and the center plane of the skull; The candidate position with the highest implantation score is used as the optimal implantation position of the medical device.

4. The surgical planning device according to claim 1, characterized in that: The at least one processor is configured to perform collision screening in the following manner when executing the computer program: Detecting whether each area point in the three-dimensional skull model satisfies a collision constraint condition; Putting the regional points satisfying the collision constraint condition into the candidate position set; The collision constraints include: After the medical device is implanted in the patient's brain according to the regional point, the upper surface of the medical device is not higher than a preset surface, and the lower surface of the medical device is not lower than the inner surface of the skull, wherein the preset surface is a surface on the outside of the skull that is a preset distance away from the outer surface of the skull.

5. The surgical planning device according to claim 4, characterized in that: The at least one processor is configured to detect whether each region point in the three-dimensional skull model satisfies the collision constraint condition in the following manner when executing the computer program: Acquire a first target point corresponding to each regional point, where the first target point is a point on the inner surface of the skull of the three-dimensional skull model that is closest to the regional point; For each first target point, perform the following processing: The three-dimensional model of the device is set so that a first reference point of the lower surface of the three-dimensional model of the device coincides with the first target point, a section of the lower surface of the three-dimensional model of the device at the first reference point is coplanar with a section of the inner surface of the skull at the first target point, and a reference line of the three-dimensional model of the device is parallel to the midsagittal line; If the three-dimensional model of the device does not collide with the preset surface, determining that the regional point corresponding to the first target point satisfies the collision constraint condition; If the three-dimensional model of the device collides with the preset surface, it is determined that the area point corresponding to the first target point does not satisfy the collision constraint condition.

6. The surgical planning device according to claim 4, characterized in that: The at least one processor is configured to detect whether each region point in the three-dimensional skull model satisfies the collision constraint condition in the following manner when executing the computer program: Acquire a second target point corresponding to each regional point, where the second target point is a point of the three-dimensional skull model on the preset surface that is closest to the regional point; For each second target point, perform the following processing: The three-dimensional model of the device is set so that the second reference point of the upper surface of the three-dimensional model of the device coincides with the second target point, the section of the lower surface of the three-dimensional model of the device at the first reference point is coplanar with the section of the inner surface of the skull at the first target point, and the reference line of the three-dimensional model of the device is parallel to the midsagittal line; If the three-dimensional model of the device does not collide with the inner surface of the skull, determining that the regional point corresponding to the second target point satisfies the collision constraint condition; If the three-dimensional model of the device collides with the inner surface of the skull, it is determined that the regional point corresponding to the second target point does not satisfy the collision constraint condition.

7. The surgical planning device according to claim 4, characterized in that: The screening method further includes fit screening, and the at least one processor is configured to perform fit screening in the following manner when executing the computer program: For each regional point in the candidate position set, calculating the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point; The regional points whose fit degree is less than a preset fit degree are removed from the candidate position set.

8. The surgical planning device according to claim 7, characterized in that: The at least one processor is configured to calculate the fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point in the following manner when executing the computer program: Respectively obtain a first projection point and a second projection point corresponding to each regional point, wherein the first projection point is a point on the outer surface of the skull closest to the regional point, and the second projection point is a point on the upper surface of the three-dimensional model of the device closest to the regional point; Calculating a curvature difference between a curvature of an outer surface of the skull at the first projection point and a curvature of an upper surface of the three-dimensional model of the device at the second projection point; The degree of fit between the upper surface of the three-dimensional model of the device and the outer surface of the skull at the regional point is obtained according to the curvature difference.

9. A medical system, characterized in that: The medical system includes: A medical device for implantation into a patient's brain; The surgical planning device according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by at least one processor, the function of the surgical planning device according to any one of claims 1 to 8 is realized.

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